Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/episodes_stats.jsonl +2 -0
- meta/info.json +162 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.back/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.back/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.wrist_left/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist_left/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.wrist_right/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist_right/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fde428b98af11de8cf2d615605916c9b43e8439b5a4e4dd9797ed5d1348229f1
|
| 3 |
+
size 44147
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:de040d6eb97fbbbf9b5cc823eb76603896659c069505e8722043d71585cf54ca
|
| 3 |
+
size 33727
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 860}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 502}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [80.5078125, 55.458984375, 75.41015625, 63.6328125, 72.59765625, -0.323974072933197, 46.669921875, 53.26171875, 60.380859375, 54.755859375, -1.142578125, -0.10799136012792587], "max": [117.158203125, 182.197265625, 164.267578125, 97.3828125, 158.5546875, 35.421165466308594, 136.7578125, 182.98828125, 166.376953125, 94.5703125, 73.388671875, 60.58314895629883], "mean": [91.16243743896484, 137.5281219482422, 131.8800811767578, 87.95572662353516, 120.0313949584961, 6.925529956817627, 84.2061767578125, 145.72869873046875, 144.58018493652344, 73.56781005859375, 36.88728713989258, 14.183649063110352], "std": [8.196900367736816, 52.61809539794922, 35.31153106689453, 6.722061634063721, 34.92910385131836, 9.0367431640625, 12.980769157409668, 42.03948974609375, 25.59954261779785, 12.29559326171875, 33.80255889892578, 20.916831970214844], "count": [860]}, "observation.state": {"min": [81.38671875, 56.42578125, 76.376953125, 64.423828125, 73.30078125, 2.040816307067871, 47.28515625, 52.91015625, 62.578125, 55.37109375, -0.263671875, 1.4196983575820923], "max": [116.806640625, 182.021484375, 163.65234375, 97.470703125, 158.37890625, 33.62910461425781, 136.494140625, 182.900390625, 166.9921875, 94.04296875, 73.125, 59.80479049682617], "mean": [91.17535400390625, 137.5850067138672, 132.55865478515625, 87.4590835571289, 120.15409088134766, 7.728379726409912, 83.86491394042969, 145.77569580078125, 146.3957061767578, 73.74925994873047, 36.67961883544922, 14.911109924316406], "std": [7.868417739868164, 52.8087272644043, 34.48491287231445, 6.385839939117432, 34.87543487548828, 8.458179473876953, 12.624133110046387, 41.974281311035156, 24.640071868896484, 12.25936508178711, 33.730342864990234, 20.282596588134766], "count": [860]}, "observation.images.back": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6138987070302805]], [[0.6030092183234053]], [[0.5693445837987093]]], "std": [[[0.20499159416830365]], [[0.21380289460300927]], [[0.2296385057479456]]], "count": [158]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5061541157338463]], [[0.49648456502854305]], [[0.48143083219574745]]], "std": [[[0.17578572461885816]], [[0.17758634060511172]], [[0.2131114012619997]]], "count": [158]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4916060255853396]], [[0.4856706042649127]], [[0.47599156505956813]]], "std": [[[0.1707901297152389]], [[0.18021329920754656]], [[0.21302997654667222]]], "count": [158]}, "timestamp": {"min": [0.0], "max": [28.633333333333333], "mean": [14.316666666666665], "std": [8.275348263903393], "count": [860]}, "frame_index": {"min": [0], "max": [859], "mean": [429.5], "std": [248.26044791710177], "count": [860]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [860]}, "index": {"min": [0], "max": [859], "mean": [429.5], "std": [248.26044791710177], "count": [860]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [860]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"action": {"min": [100.1953125, 33.837890625, 35.859375, 72.59765625, 86.748046875, -0.4319654405117035, 82.529296875, 26.89453125, -7.119140625, 60.029296875, 57.12890625, -0.10799136012792587], "max": [106.962890625, 182.109375, 160.3125, 117.861328125, 95.185546875, 36.28509521484375, 142.3828125, 180.439453125, 164.443359375, 110.7421875, 70.13671875, 49.568031311035156], "mean": [103.54546356201172, 104.15880584716797, 95.20564270019531, 94.49256134033203, 91.77037048339844, 7.165717124938965, 103.40835571289062, 109.58296203613281, 92.74827575683594, 79.43251037597656, 64.87781524658203, 15.06997013092041], "std": [1.190269947052002, 67.5489730834961, 56.44063186645508, 20.855682373046875, 2.3742523193359375, 11.729700088500977, 22.4381103515625, 62.27461624145508, 66.74520111083984, 21.776304244995117, 3.3110501766204834, 17.451187133789062], "count": [502]}, "observation.state": {"min": [100.546875, 34.189453125, 36.9140625, 72.59765625, 87.36328125, 1.8633540868759155, 82.79296875, 25.927734375, -4.833984375, 60.64453125, 57.3046875, 1.3309671878814697], "max": [106.69921875, 181.845703125, 160.83984375, 117.7734375, 94.921875, 35.93611526489258, 142.470703125, 180.17578125, 164.70703125, 110.56640625, 69.9609375, 49.068321228027344], "mean": [103.00273132324219, 104.57997131347656, 96.8823013305664, 94.19313049316406, 91.87934112548828, 9.11886215209961, 103.16400146484375, 109.2293930053711, 95.35169982910156, 79.3458480834961, 64.79464721679688, 15.90322208404541], "std": [1.358141541481018, 67.79928588867188, 56.547767639160156, 20.803213119506836, 2.4247782230377197, 10.445396423339844, 22.34554672241211, 63.20922088623047, 65.94420623779297, 21.523475646972656, 3.2598695755004883, 16.69571304321289], "count": [502]}, "observation.images.back": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6355626368078677]], [[0.6043590609199655]], [[0.5570165730207177]]], "std": [[[0.19542157088851408]], [[0.19452252548742408]], [[0.21193770337067264]]], "count": [106]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49483474380318165]], [[0.4781760948483167]], [[0.46436953924651625]]], "std": [[[0.20389207383217964]], [[0.21725924685423662]], [[0.25694554005111864]]], "count": [106]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5000813544364286]], [[0.4911422782556419]], [[0.4712177672955975]]], "std": [[[0.2158384305784983]], [[0.21362808283729026]], [[0.24957567960955257]]], "count": [106]}, "timestamp": {"min": [0.0], "max": [16.7], "mean": [8.350000000000001], "std": [4.8304876680425455], "count": [502]}, "frame_index": {"min": [0], "max": [501], "mean": [250.5], "std": [144.91463004127638], "count": [502]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [502]}, "index": {"min": [860], "max": [1361], "mean": [1110.5], "std": [144.91463004127638], "count": [502]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [502]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,162 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "so100",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 1362,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 6,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:2"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"action": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
12
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_shoulder_pan",
|
| 24 |
+
"left_shoulder_lift",
|
| 25 |
+
"left_elbow_flex",
|
| 26 |
+
"left_wrist_flex",
|
| 27 |
+
"left_wrist_roll",
|
| 28 |
+
"left_gripper",
|
| 29 |
+
"right_shoulder_pan",
|
| 30 |
+
"right_shoulder_lift",
|
| 31 |
+
"right_elbow_flex",
|
| 32 |
+
"right_wrist_flex",
|
| 33 |
+
"right_wrist_roll",
|
| 34 |
+
"right_gripper"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
"observation.state": {
|
| 38 |
+
"dtype": "float32",
|
| 39 |
+
"shape": [
|
| 40 |
+
12
|
| 41 |
+
],
|
| 42 |
+
"names": [
|
| 43 |
+
"left_shoulder_pan",
|
| 44 |
+
"left_shoulder_lift",
|
| 45 |
+
"left_elbow_flex",
|
| 46 |
+
"left_wrist_flex",
|
| 47 |
+
"left_wrist_roll",
|
| 48 |
+
"left_gripper",
|
| 49 |
+
"right_shoulder_pan",
|
| 50 |
+
"right_shoulder_lift",
|
| 51 |
+
"right_elbow_flex",
|
| 52 |
+
"right_wrist_flex",
|
| 53 |
+
"right_wrist_roll",
|
| 54 |
+
"right_gripper"
|
| 55 |
+
]
|
| 56 |
+
},
|
| 57 |
+
"observation.images.back": {
|
| 58 |
+
"dtype": "video",
|
| 59 |
+
"shape": [
|
| 60 |
+
480,
|
| 61 |
+
640,
|
| 62 |
+
3
|
| 63 |
+
],
|
| 64 |
+
"names": [
|
| 65 |
+
"height",
|
| 66 |
+
"width",
|
| 67 |
+
"channels"
|
| 68 |
+
],
|
| 69 |
+
"info": {
|
| 70 |
+
"video.fps": 30.0,
|
| 71 |
+
"video.height": 480,
|
| 72 |
+
"video.width": 640,
|
| 73 |
+
"video.channels": 3,
|
| 74 |
+
"video.codec": "av1",
|
| 75 |
+
"video.pix_fmt": "yuv420p",
|
| 76 |
+
"video.is_depth_map": false,
|
| 77 |
+
"has_audio": false
|
| 78 |
+
}
|
| 79 |
+
},
|
| 80 |
+
"observation.images.wrist_left": {
|
| 81 |
+
"dtype": "video",
|
| 82 |
+
"shape": [
|
| 83 |
+
480,
|
| 84 |
+
640,
|
| 85 |
+
3
|
| 86 |
+
],
|
| 87 |
+
"names": [
|
| 88 |
+
"height",
|
| 89 |
+
"width",
|
| 90 |
+
"channels"
|
| 91 |
+
],
|
| 92 |
+
"info": {
|
| 93 |
+
"video.fps": 30.0,
|
| 94 |
+
"video.height": 480,
|
| 95 |
+
"video.width": 640,
|
| 96 |
+
"video.channels": 3,
|
| 97 |
+
"video.codec": "av1",
|
| 98 |
+
"video.pix_fmt": "yuv420p",
|
| 99 |
+
"video.is_depth_map": false,
|
| 100 |
+
"has_audio": false
|
| 101 |
+
}
|
| 102 |
+
},
|
| 103 |
+
"observation.images.wrist_right": {
|
| 104 |
+
"dtype": "video",
|
| 105 |
+
"shape": [
|
| 106 |
+
480,
|
| 107 |
+
640,
|
| 108 |
+
3
|
| 109 |
+
],
|
| 110 |
+
"names": [
|
| 111 |
+
"height",
|
| 112 |
+
"width",
|
| 113 |
+
"channels"
|
| 114 |
+
],
|
| 115 |
+
"info": {
|
| 116 |
+
"video.fps": 30.0,
|
| 117 |
+
"video.height": 480,
|
| 118 |
+
"video.width": 640,
|
| 119 |
+
"video.channels": 3,
|
| 120 |
+
"video.codec": "av1",
|
| 121 |
+
"video.pix_fmt": "yuv420p",
|
| 122 |
+
"video.is_depth_map": false,
|
| 123 |
+
"has_audio": false
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"timestamp": {
|
| 127 |
+
"dtype": "float32",
|
| 128 |
+
"shape": [
|
| 129 |
+
1
|
| 130 |
+
],
|
| 131 |
+
"names": null
|
| 132 |
+
},
|
| 133 |
+
"frame_index": {
|
| 134 |
+
"dtype": "int64",
|
| 135 |
+
"shape": [
|
| 136 |
+
1
|
| 137 |
+
],
|
| 138 |
+
"names": null
|
| 139 |
+
},
|
| 140 |
+
"episode_index": {
|
| 141 |
+
"dtype": "int64",
|
| 142 |
+
"shape": [
|
| 143 |
+
1
|
| 144 |
+
],
|
| 145 |
+
"names": null
|
| 146 |
+
},
|
| 147 |
+
"index": {
|
| 148 |
+
"dtype": "int64",
|
| 149 |
+
"shape": [
|
| 150 |
+
1
|
| 151 |
+
],
|
| 152 |
+
"names": null
|
| 153 |
+
},
|
| 154 |
+
"task_index": {
|
| 155 |
+
"dtype": "int64",
|
| 156 |
+
"shape": [
|
| 157 |
+
1
|
| 158 |
+
],
|
| 159 |
+
"names": null
|
| 160 |
+
}
|
| 161 |
+
}
|
| 162 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
|
videos/chunk-000/observation.images.back/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:386e1fb2e0f18520af240a67aa356184497693be6c5fb1ced1471b2fb7cbe841
|
| 3 |
+
size 31052789
|
videos/chunk-000/observation.images.back/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2e61204628f1f53149f4b6ae291412dc6538df3a5f2e80f51e4224c1a61fe931
|
| 3 |
+
size 19028298
|
videos/chunk-000/observation.images.wrist_left/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4ab40b64ac82f2c2797f919c1db1d619fa2b33b94bfda63543f3ffa322a733d2
|
| 3 |
+
size 17604427
|
videos/chunk-000/observation.images.wrist_left/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:31efe1db5ec4487efa43ea20ea69f57ef8dc38ecbf1b5c07296ec82d08c4067a
|
| 3 |
+
size 11723499
|
videos/chunk-000/observation.images.wrist_right/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6b12860f5b0888cbe99fb336983b46c605bb195033901a7a0bc4a5cd563ffd10
|
| 3 |
+
size 16819155
|
videos/chunk-000/observation.images.wrist_right/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3de28d4bceee5c3819104080809e6f60e3085990fe4109f1c1e5145c0bf3dde9
|
| 3 |
+
size 8607511
|